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一种用于拖曳缆绳张力恒定的控制方法
Alternative TitleTowing cable tension constant control method
陈琦; 张竺英; 孙斌
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种用于拖曳缆绳张力恒定的控制方法,包括以下步骤:实时检测缆绳张力并进行滤波得到实际值;将实际值与设定值比较得到缆绳张力误差和张力误差变化率;设计混合模糊P+ID控制器,对输入信号缆绳张力误差和张力误差变化率进行调整,输出拖曳绞车的电控比例方向阀增量控制信号,实现调整拖曳缆绳张力恒定。本发明方法可以直接移植到现有被动式恒张力绞车控制系统上,只需安装一个轴销式张力传感器,改造成本低,扩展性强。本发明方法用混合模糊P+ID的控制器代替了传统PID的比例项,改善了控制精度,鲁棒性。
Other AbstractThe method involves detecting a cable tension measuring value in real-time by performing digital filter process. A cable tension actual value is obtained. A time cable tension error and a tension error change rate are obtained by performing difference operation on the cable tension actual value and a cable tension preset value. A fuzzy controller is designed by considering the cable tension error and the tension error change rate as an input signal. An electric control proportion of a towing winch direction valve control signal is considered as an output signal.
PCT Attributes
Application Date2015-12-17
2017-06-27
Date Available2019-01-15
Application NumberCN201510945987.9
Open (Notice) NumberCN106892369A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/20675
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
陈琦,张竺英,孙斌. 一种用于拖曳缆绳张力恒定的控制方法[P]. 2017-06-27.
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